Chapter 40 — Mobility and Manipulation

Motor-skill learning for robotics

We propose to divide the generic skill-learning problem into parts that can be well-understood from a robotics point of view. After appropriate learning approaches have been designed for these basic components, they will serve as the ingredients of a general approach to robot-skill learning. This video shows results of our work on learning to control, learning elementary movements, as well as steps towards the learning of complex tasks.
Jan Peters, Jens Kober, Katharina Mülling